Ricbot hardware

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Hardware

Tentative layout:

Length is 1m, free height 25cm, width 65cm.

Installation notes

Camera position

Forward-looking camera: Intel RealSense D455, FOV 87 x 58 deg, range 0.6 to 6m.

Down-looking camera: Intel RealSense D435, FOV: 87 x 58 deg, range 0.3 to 3m.

Cabling

DRI0042: https://wiki.dfrobot.com/15A_Single_DC_Motor_Driver_SKU__DRI0042

Regbot 6.3: Regbot hardware board

RICBOT Power on-off board PCB

DRI0042 to Regbot 4-pin PWM

DRI              Regbot PWM    Software
7 GND   (black)  1 GND         --
4 PWM   (red)    2 in1         PIN_xxxx_DIR
5 IN1   (white)  3 in2         PIN_xxxx_PWM
6 IN2   (yellow) 4 fault       PIN_xxxx_FAULT
3 5V out 

DRI0042 control values
IN1 	IN2 	PWM 	OUT1, OUT2 Motor Behavior
0 	0 	x 	Stop
1 	1 	x 	Vacant (relax)
1 	0 	1 	Forward 100%
0 	1 	1 	Reverse 100%
1 	0 	PWM 	Forward at PWM speed
0 	1 	PWM 	Reverse at PWM speed

Power control

Pin        IDC10-pin      Software       Function
1 (black)  1              --             GND
2 (red)    3              LS_1  (pin 27) power off (when low)  -- pt not working (wrong mod on power board)
3 (white)  4              LS_0  (A6)     battery voltage  (39k/4.7k)
4 (yellow) 6              LS_4  (pin 26) Alive LED

Teensy interface

The Teensy interface implements a bridge to MQTT, a motor controller (velocity and turn rate), and a remote control.

The configuration is in

/home/local/svn/teensy_interface/build/robot.ini

See also Robobot teensy interface.

Start at boot

See the similar start setup in [[1]].

Comment out (or delete) the start of the camera streamer (not compatible with RealSense 3D cam)

Install software on Raspberry Pi

Perform the same installation as Robobot install on Raspberry, except for the serial port configuration (which should not be needed).

Teensy software

This is the Regbot software, configured to match the Ricbot.

See more details here Regbot firmware.